Convolutional neural network Convolution 9 Convolutional neural networks 8 Deep learning 4 Machine learning 3 Changing environment 2 Classification (of information) 2 Contrastive learning 2 Damage detection 2 Horizontal displacements 2 Image classification 2 Image representation 2 Image representations 2 Images classification 2 Images registration 2 Learning algorithms 2 Long-term autonomy 2 Metric maps 2 Mobile robots 2 Navigation 2 Neural networks 2 Seasonal changes 2 Signal encoding 2 Support vector machines 2 Visual teach and repeat navigation 2 contrastive learning 2 convolutional neural network 2 image representations 2 long-term autonomy 2 machine learning 2